	US 12,214,780 B2
	Method for controlling a vehicle
Christian Heinzemann, Ludwigsburg (DE); Andreas Heyl, Weil der Stadt (DE); Christoph Gladisch, Renningen (DE); Jens Oehlerking, Stuttgart (DE); Martin Butz, Steinheim an der Murr (DE); Martin Herrmann, Korntal (DE); Michael Rittel, Markgroeningen (DE); Nadja Schalm, Renningen (DE); and Tino Brade, Muldestausee (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Oct. 18, 2021, as Appl. No. 17/504,380.
Claims priority of application No. 102020215545.3 (DE), filed on Dec. 9, 2020.
Prior Publication US 2022/0176949 A1, Jun. 9, 2022
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 40/12 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01); G01C 21/34 (2006.01)

CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 40/04 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); G01C 21/3415 (2013.01); B60W 2552/53 (2020.02)]

24 Claims

1. A computer-implemented method for controlling a vehicle, comprising the following steps:

reading in data of a digital road map;

determining zones for the digital road map;

ascertaining possible sequences of trips along a road on the digital road map as a function of the determined zones;

ascertaining, as a function of sensor data and/or current driving data of the vehicle, whether a current or predicted traffic situation is outside the possible sequences or corresponds to a possible sequence that is determined as being outside an intended operating range, wherein at least one of the determined zones is a dynamic zone having a size that depends on a speed of the vehicle, a position of the vehicle, and a behavior model that takes into account a position or a speed of another vehicle;

determining a measure to be taken when the current or predicted traffic situation is outside the possible sequences or corresponds to the possible sequence outside the intended operating range; and

controlling the vehicle as a function of the measure to be taken, wherein:

at least another of the determined zones is a static zone having a size that is independent of the speed of the vehicle and independent of the speed of the other vehicle, and

the dynamic zone is nested within the static zone and represents a still sufficient distance for the vehicle to perform an action within the static zone.